The comedian's entrance had been delayed due to issues with securing insurance for him, but he has now joined his fellow celebrities including The Only Way Is Essex star Mark Wright, Hart To Hart legend Stefanie Powers and McFly's Dougie Poynter.
The stars, also including Coronation Street's Antony Cotton, ex-Emmerdale actress Lorraine Chase and The Real Hustle's Jessica-Jane Clement, had earlier met each other at a £4m mansion on Australia's Gold Coast.
Olympic star Fatima Whitbread, Benidorm actress Crissy Rock and racing hero Willie Carson completed the lineup at the house before Ant and Dec arrived and informed the celebrities that they would shortly be travelling to their next destination by helicopter.
They spent their first night in a cave in a jungle clearing, where they had to light a fire, prepare a meal of rice and beans and sleep on groundsheets in the cave. However, some of the contestants refused to sleep in the cave, with Fatima leading the group to spend the night outside instead.
The following morning, the group split as they made their way to camp, with half (Antony, Mark, Crissy, Lorraine and Fatima) skydiving into the Australian bush and the other half (Stefanie, Dougie, Willie and Jess) canoeing in.
Crissy, who told Mark she "felt physically sick" at the thought of skydiving, decided against taking the plunge, becoming the first celebrity in 11 series of I'm A Celebrity... Get Me Out Of Here to refuse.
Willie paired with Jess to canoe down the river to camp, while Stefanie paired with Dougie. The latter duo capsized their canoe immediately and were drenched after falling into the river. Stefanie later realised she had a tick behind her right ear, which had to be removed by medics.
Once the celebrities arrived in camp, they had to complete a Scales of Justice trial and were joined by Freddie Starr. All ten camp mates went head to head in their teams to win food for the evening, dangling in seats over the top of two tanks filled with slime, offal and fish guts.
The challenge was to get two stars from boxes in front of them, which contained mealworms, yabbies, crickets, cockroaches and eels, and pass a key attached to the stars to the team mate next to them. The first team to open all boxes would be pronounced winners and the losing team would be dunked in the tank.
Watch I'm A Celebrity... Get Me Out Of Here tonight at 9pm on ITV1.
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